文档介绍：华北电力大学(保定)
硕士学位论文
基于改进蚁群算法的移动机器人路径规划研究
姓名:徐瑾
申请学位级别:硕士
专业:机械工程;机械电子工程
指导教师:韩庆瑶
2011-03
华北电力大学硕士学位论文
摘要
移动机器人路径规划是机器人研究领域的核心内容之一,具有复杂性、约束性和非
线性等特点。蚁群算法是近年来发展起来的一种智能优化算法,该算法在解决许多复杂
问题方面已经展现出其优异的性能和巨大的发展潜力。本文主要选取蚁群算法对静态环
境下的移动机器人全局路径规划进行了研究。
本文首先应用栅格法对环境进行建模,随后提出了可转移节点的选择和确定方法以
及信息素更新方法,实现了机器人路径规划。其后,本文应用基本蚁群算法在两种复杂
程度不同的环境中进行仿真和分析,证明了蚁群算法的有效性,并指出了基本蚁群算法
存在的过早收敛、寻优能力差和稳定性差等缺点。
其次,本文针对基本蚁群算法存在的不足对算法提出了改进。具体的改进措施有四
个:第一,应用遗传算法对基本蚁群算法的参数进行了优化配置;第二,应用最大最小
蚂蚁法改变了信息素更新策略,避免了算法过早收敛。第三,针对蚂蚁落入陷阱而导致
的停滞问题提出了蚂蚁回退策略。第四,加入导向函数以增强蚂蚁效率,降低了算法的
时间复杂度。
最后,为了验证本文所提出的改进措施的有效性,对两种复杂程度不同的地图进行
了仿真。通过基本蚁群算法与改进蚁群算法仿真结果的对比分析可以看出改进蚁群算法
具有更强的寻优能力和稳定性,从而证明了改进蚁群算法的可行性和优越性。
关键词:路径规划;蚁群算法;栅格法;遗传算法

I
华北电力大学硕士学位论文
Abstract
Path planning for mobile robots is one of the core contents of the filed of robotics
research plex, restrictive and nonlinear characteristics. The ant colony algorithm
(ACA) is a new bionics optimization algorithm developed in the past decade. It shows
excellent performance and great potential for development when solving plex
problems. In this thesis, it mainly discussed global path planning problem for mobile robots
based on ACA in static environment.
Firstly, grid method is used to establish the environment model and the way to choose
the next point and the pheromones updating strategy is also put forward. Basic ACA is used to
plan the path in two different environments. It proved the effectiveness of basic ACA and also
showed some problems of it.
Secondly,It improved the performance of the basic ACA. First, it optimized the
parameter of basic ACA using ic algorithm. Second, The Max-Min Ant System is used
in the designation. Third, the strategy of withdrawal is used to prevent the ants falling into the
trap. Fourth, it added oriented functions to the program in order to enhance the ant algorithm
efficiency and reduce the plexity.
Finally, in order to ve